Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots

Salimi, Salma; Queralta, Jorge Peña; Westerlund, Tomi

doi:10.1109/sii55687.2023.10039326

Cited by 10 publications

(5 citation statements)

References 26 publications

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“…Similarly, Salimi et al have proposed a multi-robot system framework built on the Hyperledger Fabric blockchain platform. By implementing blockchain authentication and smart contracts among robots, they ensure the security and efficiency of the collaborative process while also exploring the potential and importance of applying blockchain technology in industrial environments [6]. Zhang et al review current innovative architectures and technologies applicable to robotic systems and discuss existing technical challenges and preparations for advancing distributed robotic systems [7].…”

Section: Related Workmentioning

confidence: 99%

“…Zhang et al review current innovative architectures and technologies applicable to robotic systems and discuss existing technical challenges and preparations for advancing distributed robotic systems [7]. Salimi et al describe the integration of ROS 2 with the Hyperledger Fabric blockchain, emphasizing the importance of enabling secure data aggregation and control in autonomous robotic systems [8]. Morón et al integrated blockchain technology with the UWB positioning system to improve the security and credibility of multi-robot systems [9].…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

Wang,

Chen,

Zheng

et al. 2024

Sensors

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With the application of robotics in security monitoring, medical care, image analysis, and other high-privacy fields, vision sensor data in robotic operating systems (ROS) faces the challenge of enhancing secure storage and transmission. Recently, it has been proposed that the distributed advantages of blockchain be taken advantage of to improve the security of data in ROS. Still, it has limitations such as high latency and large resource consumption. To address these issues, this paper introduces PrivShieldROS, an extended robotic operating system developed by InterPlanetary File System (IPFS), blockchain, and HybridABEnc to enhance the confidentiality and security of vision sensor data in ROS. The system takes advantage of the decentralized nature of IPFS to enhance data availability and robustness while combining HybridABEnc for fine-grained access control. In addition, it ensures the security and confidentiality of the data distribution mechanism by using blockchain technology to store data content identifiers (CID) persistently. Finally, the effectiveness of this system is verified by three experiments. Compared with the state-of-the-art blockchain-extended ROS, PrivShieldROS shows improvements in key metrics. This paper has been partly submitted to IROS 2024.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

Wang,

Chen,

Zheng

et al. 2024

Sensors

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“…Other platforms have emerged that potentially solve some of these issues, such as Hyperledger Fabric [26] and IOTA [27]. These have already been explored in some works, albeit more limited experiments have been demonstrated [28], [14], [29].…”

Section: Related Workmentioning

confidence: 99%

Partition-Tolerant and Byzantine-Tolerant Decision Making for Distributed Robotic Systems With IOTA and ROS2

Keramat

Queralta

Westerlund

2023

IEEE Internet Things J.

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“…Malsa et al [17] proposed a blockchain-based certificate verification technique for robotic systems to check the authenticity of certificates. Salimi et al [18] utilize blockchain technology to establish trusted data sharing. Alladi et al [19] applied blockchain technology to the Unmanned Aerial Vehicle (UAV) network to realize the safe storage and management of UAV data.…”

Section: Related Workmentioning

confidence: 99%

Improved PBFT Algorithm Based on K-Means Clustering for Emergency Scenario Swarm Robotic Systems

Sun,

Fan

2023

IEEE Access

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In order to solve the problem of data security and sharing efficiency caused by the complex and uncertain environment faced by swarm robotic systems in emergency scenarios, this paper designs a data security consensus algorithm based on blockchain technology. Aiming at the problems of high communication overhead, long consensus delay and low throughput when the traditional Practical Byzantine Fault Tolerance (PBFT) algorithm is applied to this scenario, a grouped practical Byzantine Fault Tolerance consensus algorithm based on K-means clustering is proposed. Firstly, the K-means clustering algorithm is used to group robotic nodes according to the location distribution of robotics in the emergency scenario. Secondly, a reputation mechanism is designed to dynamically evaluate the behaviour of robotic nodes in each group during the consensus process. Each consensus node is divided into master and slave chains according to its reputation score. The consensus task is firstly decomposed, and slave chains participate in the consensus in parallel. Finally, the master chain completes the global consensus, so as to reduce the communication times between nodes. The experimental results show that compared with the traditional PBFT, SG-PBFT and P-PBFT consensus algorithm, the proposed consensus algorithm effectively improves the system throughput, reduces the delay, reduces the communication overhead, and has a higher success rate of consensus. INDEX TERMS Swarm robotics, blockchain, PBFT, K-means clustering, master-slave multichain.

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Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots

Cited by 10 publications

References 26 publications

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

Partition-Tolerant and Byzantine-Tolerant Decision Making for Distributed Robotic Systems With IOTA and ROS2

Improved PBFT Algorithm Based on K-Means Clustering for Emergency Scenario Swarm Robotic Systems

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